/*
  SOLID - Interference Detection Library
  Copyright (C) 1997 Gino van den Bergen

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Library General Public
  License as published by the Free Software Foundation; either
  version 2 of the License, or (at your option) any later version.

  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Library General Public License for more details.

  You should have received a copy of the GNU Library General Public
  License along with this library; if not, write to the Free
  Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.

  Please send remarks, questions and bug reports to gino@win.tue.nl,
  or write to:
                  Gino van den Bergen
		  Department of Mathematics and Computing Science
		  Eindhoven University of Technology
		  P.O. Box 513, 5600 MB Eindhoven, The Netherlands
*/

#ifndef _BBOX_H_
#define _BBOX_H_

#include <3D/Point.h>
#include <3D/Vector.h>
#include "Transform.h"

class Polygon;

class BBox {
public:
  BBox() {}
  BBox(int n, const Polygon **p);

  Scalar lower(int i) const { return center[i] - extent[i]; }
  Scalar upper(int i) const { return center[i] + extent[i]; }
  
  Scalar size() const { return max(max(extent[X], extent[Y]), extent[Z]); }
  int longestAxis() const { return extent.closestAxis(); }
  
  void setValue(const BBox& b, const Transform& t); 

  const Point& getCenter() const  { return center; }
  const Vector& getExtent() const { return extent; }

  void setCenter(const Point& p)  { center = p; }
  void setExtent(const Vector& v) { extent = v; }
  
  friend bool intersect(const BBox& a, const BBox& b);
  friend bool intersect(const BBox& a, const BBox& b, 
			const Transform& t, const Matrix& abs);

private:
  Point center;
  Vector extent;
};

inline bool intersect(const BBox& a, const BBox& b) {
  return abs(a.center[X] - b.center[X]) <= a.extent[X] + b.extent[X] &&
         abs(a.center[Y] - b.center[Y]) <= a.extent[Y] + b.extent[Y] &&
         abs(a.center[Z] - b.center[Z]) <= a.extent[Z] + b.extent[Z];
}

bool sep_axis_test(const Vector& a, const Vector& b, const Vector& pos,
	      const Matrix& orn, const Matrix& m);

inline bool intersect(const BBox& a, const BBox& b, const Transform& t, 
		      const Matrix& m) {
  return sep_axis_test(a.extent, b.extent, t(b.center) - a.center, 
		       t.getOrientation(), m);
}


#endif


